/*
Copyright (C) 2006 Pedro Felzenszwalb

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
*/

/* some image utilities */

#pragma once

#include "grid_map_sdf/distance_transform/image.hpp"
#include "grid_map_sdf/distance_transform/misc.hpp"

namespace distance_transform
{
    /* compute minimum and maximum value in an image */
    template <class T>
    void min_max(image<T>* im, T* ret_min, T* ret_max)
    {
        int width = im->width();
        int height = im->height();

        T min = imRef(im, 0, 0);
        T max = imRef(im, 0, 0);
        for (int y = 0; y < height; y++)
        {
            for (int x = 0; x < width; x++)
            {
                T val = imRef(im, x, y);
                if (min > val)
                {
                    min = val;
                }
                if (max < val)
                {
                    max = val;
                }
            }
        }

        *ret_min = min;
        *ret_max = max;
    }

    /* threshold image */
    template <class T>
    image<uchar>* threshold(image<T>* src, int t)
    {
        int width = src->width();
        int height = src->height();
        image<uchar>* dst = new image<uchar>(width, height);

        for (int y = 0; y < height; y++)
        {
            for (int x = 0; x < width; x++)
            {
                imRef(dst, x, y) = (imRef(src, x, y) >= t);
            }
        }

        return dst;
    }
} // namespace distance_transform
